CN107014351B - Obtain the method and system of driving vehicle ideal altitude value - Google Patents
Obtain the method and system of driving vehicle ideal altitude value Download PDFInfo
- Publication number
- CN107014351B CN107014351B CN201610059176.3A CN201610059176A CN107014351B CN 107014351 B CN107014351 B CN 107014351B CN 201610059176 A CN201610059176 A CN 201610059176A CN 107014351 B CN107014351 B CN 107014351B
- Authority
- CN
- China
- Prior art keywords
- driving vehicle
- data group
- sample data
- altitude value
- obtaining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
- G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Navigation (AREA)
- Measuring Fluid Pressure (AREA)
Abstract
The present invention provides a kind of method and system for obtaining driving vehicle ideal altitude value, the driving vehicle is provided with the measuring part influenced by speed, the described method includes: obtaining each sample data group, the sample data group includes: the velocity amplitude, location information and the measurement altitude value read from the measuring part of the driving vehicle；According to the positional information, judge whether the corresponding driving vehicle of each sample data group is in flat road section；If it is not, then excluding the sample data group；If so, retaining the sample data group；According to the sample data group of each reservation, the functional relation of the velocity amplitude with corresponding each measurement altitude value is fitted, accordingly as the rule for obtaining driving vehicle ideal altitude value.The situation that the present invention can effectively avoid the measuring parts such as barometer measurement error in vehicle travel process larger judges whether vehicle provides possibility in overhead upper traveling for vehicle mounted guidance.
Description
Technical field
The present invention relates to technical field of vehicle navigation, more particularly to a kind of method for obtaining driving vehicle ideal altitude value
And system.
Background technique
The measurement method of height above sea level, it is general to be measured by GPS geo-location system, or by measuring atmospheric pressure, so
Height above sea level is calculated according to atmospheric pressure value afterwards.
In vehicle travel process, due to fluid mechanics principle, sensor is easy to be interfered, and leads to barometrical output
Error is larger, directly affects the judgement to the vehicle locating height above sea level angle value at present.In consideration of it, being furnished with air pressure currently on the market
The navigation system of meter is all difficult to be directly used in whether identification driving vehicle is in overhead.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of ideal seas of acquisition driving vehicle
The method and system for pulling out value, the height above sea level for solving to directly acquire driving vehicle based on measuring parts such as barometers in the prior art
Height value can not judge whether driving vehicle is in overhead problem because error is larger.
In order to achieve the above objects and other related objects, the present invention provides a kind of side for obtaining driving vehicle ideal altitude value
Method, wherein the driving vehicle is provided with the measuring part influenced by speed, which comprises each sample data group is obtained,
The sample data group includes: the velocity amplitude, location information and the measurement read from the measuring part of the driving vehicle
Altitude value.According to the positional information, judge the corresponding driving vehicle of each sample data group whether flat road section, if
It is no, then exclude the sample data group；If so, retaining the sample data group.According to the sample data group of each reservation, institute is fitted
The functional relation for stating velocity amplitude with corresponding each measurement altitude value, accordingly as acquisition driving vehicle ideal altitude value
Rule.
Optionally, the method also includes: continue obtain sample data group, qualified sample data group is used to repair
The just described functional relation is to be provided as revised rule.
Optionally, the method also includes: the current velocity amplitude of driving vehicle is obtained, according to the rule or revised
Rule calculates the driving vehicle in the ideal altitude value of current location.
Optionally, the functional relation is fitted by neural network or least square method.
Optionally, the measuring part includes: baroceptor or barometer.
In order to achieve the above objects and other related objects, the present invention provides a kind of driving vehicle ideal altitude value of obtaining and is
System, wherein the driving vehicle is provided with the measuring part influenced by speed, the system comprises: obtain module, judgment module
And fitting module.Module is obtained for obtaining each sample data group, the sample data group includes: the speed of the driving vehicle
Value, location information and the measurement altitude value read from the measuring part.Judgment module is used for according to the positional information,
Judge whether the corresponding driving vehicle of each sample data group is in flat road section, if it is not, then excluding the sample data group；
If so, retaining the sample data group.Fitting module is used for according to the sample data group of each reservation, fit the velocity amplitude with
The functional relation of corresponding each measurement altitude value, accordingly as the rule for obtaining driving vehicle ideal altitude value.
Optionally, the acquisition module is also used to: continuing to obtain sample data group, the fitting module is also used to: will be accorded with
The sample data group of conjunction condition is for correcting the functional relation to be provided as revised rule.
Optionally, the system also includes computing modules, for according to the current velocity amplitude of driving vehicle and the rule
Then or the revised rule calculates the ideal altitude value of the driving vehicle, wherein the current speed of the driving vehicle
Value is obtained by the acquisition module.
Optionally, the functional relation is fitted by neural network or least square method.
Optionally, the measuring part includes: baroceptor or barometer.
In order to achieve the above objects and other related objects, the present invention provides a kind of car-mounted terminal, including as above any described
Acquisition driving vehicle ideal altitude value system.
In order to achieve the above objects and other related objects, the present invention provides a kind of vehicle, including vehicle-mounted end as described above
End.
As described above, the method and system of acquisition driving vehicle ideal altitude value of the invention, can effectively avoid barometer
Whether the larger situation of equal measuring parts measurement error in vehicle travel process, judge vehicle in overhead uplink for vehicle mounted guidance
It sails and provides possibility.
Detailed description of the invention
Fig. 1 is shown as the method flow diagram of the acquisition driving vehicle ideal altitude value of one embodiment of the invention.
Fig. 2 is shown as the velocity amplitude fitted in one embodiment of the invention and measures the function relation figure of altitude value.
Fig. 3 is shown as measuring altitude value and ideal altitude value comparison diagram in one embodiment of the invention.
Fig. 4 is shown as the system module figure of the acquisition driving vehicle ideal altitude value of one embodiment of the invention.
Fig. 5 is shown as the structural schematic diagram of the car-mounted terminal of one embodiment of the invention.
Component label instructions
1 system for obtaining driving vehicle ideal altitude value
11 obtain module
12 judgment modules
13 fitting modules
2 car-mounted terminals
21 processing units
3 measuring parts
S1~S5 step
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that in the absence of conflict, following embodiment and implementation
Feature in example can be combined with each other.
It should be noted that illustrating the basic structure that only the invention is illustrated in a schematic way provided in following embodiment
Think, only shown in schema then with related component in the present invention rather than component count, shape and size when according to actual implementation
Draw, when actual implementation kenel, quantity and the ratio of each component can arbitrarily change for one kind, and its assembly layout kenel
It is likely more complexity.
Existing onboard navigation system usually mistake can occur in overpass section, mention for example, navigating on overpass
Show right-hand rotation, and actually the right is at all without outlet of turning right.The main reason for navigational error is due to being unable to judge accurately vehicle
Current height above sea level, and cause obtain height above sea level error it is biggish be primarily due to the measuring parts such as barometer by
The influence of speed is arrived.
Referring to Fig. 1, the present invention provides a kind of method for obtaining driving vehicle ideal altitude value, wherein the Travel vehicle
It is provided with the measuring part influenced by speed, measuring part is preferably mounted to barometer or air pressure sensing in driving vehicle
Device etc..Method includes the following steps:
Step S1: each sample data group is obtained.It should be noted that due to the driving vehicle measuring part of different automobile types
Error distribution is different, so the acquisition of sample data group can be for a kind of vehicle, can also be directed to different automobile types.Often
3 kinds of information, the i.e. velocity amplitude of the corresponding driving vehicle of sample data group, the row are included at least in one sample data group
The measurement altitude value sailing the location information of vehicle and being read from the measuring part of the driving vehicle, wherein location information with
Corresponding position in map of navigation electronic is associated.
Step S2: according to the positional information, judge whether the corresponding driving vehicle of each sample data group is in flat
Smooth road segment segment, if it is not, thening follow the steps S3；If so, thening follow the steps S4.It should be noted that since driving vehicle is going up a slope
Or when descending the variation of speed will cause measurement altitude value disturbance, choose flat road section sample data group its object is to
For exclusive PCR data, accuracy is further increased.Specifically, it may be simultaneously present flat road and upper in multiple sections
Descending, such as: the section that some sections have upper layer and lower layer parallel, i.e., overhead section and ground section, it can be at certain between this two layers
The connection of access bridge section is sentenced, may include multiple adjacent sections at the position of these connections.In sample phase, in order to improve
Accuracy, it is preferred that data corresponding at access bridge section are excluded, the data at flat section are only retained.For sentencing for access bridge section
It is disconnected, it can be identified by the road information recorded in navigation map.
Step S3: the sample data group is excluded.
Step S4: retain the sample data group.
Step S5: according to the sample data group of each reservation, using speed as independent variable x, altitude value is measured as dependent variable y
It fits the velocity amplitude and measures the functional relation of altitude value, accordingly as the rule for obtaining driving vehicle ideal altitude value
Then.Alternatively, authenticity, the reliability of functional relation are improved in order to cater to continually changing vehicle condition condition, sample data group
Acquisition is to continue to carry out, and is filtered out in the sample data group that these are obtained qualified for correcting the functional relation
Formula, to obtain modified rule, wherein the condition met are as follows: the acquisition of the sample data group is in flat road
Section, and/or: for judgement sample data group in acquisition, whether driving vehicle is in acceleration or deceleration, if the value of acceleration is super
Certain preset threshold is crossed, then retains the sample data group for correction function relational expression.Preferably, when speed difference 10km/h with
On, and the duration in 10s or more, i.e. the value of acceleration can retain the sample data group for 0.27 or so, at this point, can
To set 0.27m/s for preset threshold2。
In one embodiment, the functional relation is fitted to obtain by neural network or least square method.
Fig. 2 shows the function relation figure of the velocity amplitude fitted in an embodiment and measurement altitude value, wherein due to a piece
The up to a hundred qualified sample data groups that the reason of width uses are not listed one by one, it can be seen that these sample data groups are total
Body is at a trend, and but floating range is larger, it is seen that the measurement altitude value in these sample data groups is likely to be bigger than normal, also has
It may be less than normal.According to these data, the functional relation that is fitted are as follows: y=0.0104x2+ 0.0863x+4.9307,
Coefficient of determination R2=0.8553, which is exactly that its current location ideal is obtained according to the speed of current driving vehicle
The rule of altitude value.It should be noted that working as R2Value closer to 1 fitting precision it is higher, can pass through continue collecting sample number
According to or the methods of repeat above-mentioned steps and further correct out R2It is worth high functional relation to increase accuracy.
In one embodiment, the method also includes: obtain the current velocity amplitude of driving vehicle, according to the rule or repair
Rule after just calculates the driving vehicle in the ideal altitude value of current location.For example, the speed that the driving vehicle obtained is current
Angle value are as follows: 90km/h, according to the functional relation of above-mentioned fitting, current ideal altitude value, which can be calculated, is
13.5882m。
Fig. 3, which is shown, measures altitude value and ideal altitude value comparison diagram in an embodiment.The measuring part when speed is 0
Reading is that accurately, i.e., true altitude value is 5 meters.When speed is in one section of frequently variation at any time, from measuring part reading
Measurement altitude value can change with changes in vehicle speed, and the error for deviateing 5 meters of true altitude value is larger.However, passing through this method
The ideal altitude value of acquisition also with speed variation and change, the error for deviateing 5 meters of true altitude value is significantly smaller.
Referring to Fig. 4, similarly with embodiment of the method principle, the present invention provides a kind of acquisition driving vehicle ideal altitude
The system 1 of value, wherein the driving vehicle is provided with the measuring part influenced by speed, and the system 1 includes: acquisition module
11, judgment module 12 and fitting module 13.Since the technical characteristic in previous embodiment can be used in this system embodiment,
Thus it is no longer repeated.
It obtains module 11 and obtains each sample data group, the sample data group includes: the velocity amplitude of the driving vehicle, position
Measurement altitude value confidence breath and read from the measuring part.Judgment module 12 according to the positional information, judges each institute
State whether the corresponding driving vehicle of sample data group is in flat road section, if it is not, then excluding the sample data group；If so,
Retain the sample data group.Fitting module 13 fits the velocity amplitude and measurement height above sea level according to the sample data group of each reservation
The functional relation of value, accordingly as the rule for obtaining driving vehicle ideal altitude value.
In one embodiment, the acquisition module 11 is also used to: continuing to obtain sample data group, the fitting module 13 is also
For: qualified sample data group is used to correct the functional relation to be provided as revised rule.
In one embodiment, the system 1 further includes computing module, for according to the current velocity amplitude of driving vehicle and
The rule or revised rule calculate the ideal altitude value of the driving vehicle, wherein the current speed of the driving vehicle
Angle value is obtained by the acquisition module.
In one embodiment, the functional relation is fitted by neural network or least square method.
In one embodiment, the measuring part includes: baroceptor or barometer.
Referring to Fig. 5, with it is above-mentioned be example principles similarly, the present invention provides a kind of car-mounted terminal 2, including such as takes up an official post
The system 1 of driving vehicle ideal altitude value is obtained described in one, system 1 can be software realization, can drive in the present embodiment
The hardware of car-mounted terminal 2 is to realize correlation function.Implement since the technical characteristic in previous embodiment can be used for this system
In example, thus it is no longer repeated.
The car-mounted terminal 2 includes at least processing unit 21, with the baroceptor or barometer for being set to driving vehicle
Equal measuring parts connection may include that MCU, SOC and interlock circuit are realized.Processing unit 21 obtains each sample data group, described
Sample data group includes: the velocity amplitude, location information and the measurement height above sea level read from the measuring part of the driving vehicle
Value.According to the positional information, judge whether the corresponding driving vehicle of each sample data group is in flat road section, if
It is no, then exclude the sample data group；If so, retaining the sample data group.According to the sample data group of each reservation, institute is fitted
It states velocity amplitude and measures the functional relation of altitude value, accordingly as the rule for obtaining driving vehicle ideal altitude value.
In addition to this, similarly with above-described embodiment principle, the present invention provides a kind of vehicle (not shown), including as above
Any car-mounted terminal 2.
In conclusion the method and system of acquisition driving vehicle ideal altitude value of the invention, without gyroscope etc.
Other equipment can help to improve the success rate and accuracy rate of elevated ramp identification, effectively overcome in the prior art various
Disadvantage and have high industrial utilization value.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (12)
1. a kind of method for obtaining driving vehicle ideal altitude value, which is characterized in that the driving vehicle is provided with by speed shadow
Loud measuring part, which comprises
Each sample data group is obtained, the sample data group includes: the velocity amplitude, location information, Yi Jicong of the driving vehicle
The measurement altitude value that the measuring part is read；
According to the positional information, judge whether the corresponding driving vehicle of each sample data group is in flat road section；
If it is not, then excluding the sample data group；If so, retaining the sample data group；
According to the sample data group of each reservation, fits each velocity amplitude and closed with the function of corresponding each measurement altitude value
It is formula, accordingly as the rule for obtaining driving vehicle ideal altitude value.
2. the method according to claim 1 for obtaining driving vehicle ideal altitude value characterized by comprising continue to obtain
Notebook data group is sampled, qualified sample data group is used to correct the functional relation to be provided as revised rule
Then.
3. the method according to claim 2 for obtaining driving vehicle ideal altitude value characterized by comprising obtain row
The current velocity amplitude of vehicle is sailed, the driving vehicle is calculated in the ideal altitude of current location according to the revised rule
Value.
4. the method according to claim 1 for obtaining driving vehicle ideal altitude value, which is characterized in that the functional relation
Formula is fitted by neural network or least square method.
5. the method according to claim 1 for obtaining driving vehicle ideal altitude value, which is characterized in that the measuring part
It include: baroceptor or barometer.
6. a kind of system for obtaining driving vehicle ideal altitude value, which is characterized in that the driving vehicle is provided with by speed shadow
Loud measuring part, the system comprises:
Module is obtained, for obtaining each sample data group, the sample data group includes: the velocity amplitude of the driving vehicle, position
Measurement altitude value confidence breath and read from the measuring part；
Judgment module, for according to the positional information, judging whether the corresponding driving vehicle of each sample data group is in
Flat road section；If it is not, then excluding the sample data group；If so, retaining the sample data group；
Fitting module fits the velocity amplitude and corresponding each measurement sea for the sample data group according to each reservation
The functional relation of value is pulled out, accordingly as the rule for obtaining driving vehicle ideal altitude value.
7. the system according to claim 6 for obtaining driving vehicle ideal altitude value characterized by comprising
The acquisition module is also used to: continuing to obtain sample data group；
The fitting module is also used to: being used to correct the functional relation for qualified sample data group to be provided as repairing
Rule after just.
8. the system according to claim 7 for obtaining driving vehicle ideal altitude value characterized by comprising calculate mould
Block, for calculating the driving vehicle in current location according to the current velocity amplitude of driving vehicle and the revised rule
Ideal altitude value, wherein the current velocity amplitude of the driving vehicle is obtained by the acquisition module.
9. the system according to claim 6 for obtaining driving vehicle ideal altitude value, which is characterized in that the functional relation
Formula is fitted by neural network or least square method.
10. the system according to claim 6 for obtaining driving vehicle ideal altitude value, which is characterized in that the measurement portion
Part includes: baroceptor or barometer.
11. a kind of car-mounted terminal characterized by comprising the acquisition driving vehicle reason as described in any in claim 6-10
Think the system of altitude value.
12. a kind of vehicle characterized by comprising car-mounted terminal as claimed in claim 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610059176.3A CN107014351B (en) | 2016-01-28 | 2016-01-28 | Obtain the method and system of driving vehicle ideal altitude value |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610059176.3A CN107014351B (en) | 2016-01-28 | 2016-01-28 | Obtain the method and system of driving vehicle ideal altitude value |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107014351A CN107014351A (en) | 2017-08-04 |
| CN107014351B true CN107014351B (en) | 2019-07-19 |
Family
ID=59439155
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610059176.3A Active CN107014351B (en) | 2016-01-28 | 2016-01-28 | Obtain the method and system of driving vehicle ideal altitude value |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107014351B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113034330A (en) * | 2021-03-10 | 2021-06-25 | 西安主函数智能科技有限公司 | Path feature extraction method and device under engineering transportation environment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08285582A (en) * | 1995-04-11 | 1996-11-01 | Yupiteru Ind Co Ltd | Altimeter and altitude correcting method using the same |
| CN101379367A (en) * | 2006-03-20 | 2009-03-04 | 高通股份有限公司 | Method and apparatus for determining the altitude of a mobile device |
| CN102012234A (en) * | 2009-09-04 | 2011-04-13 | 陈宗炜 | Vehicle navigation device |
| CN102175215A (en) * | 2011-02-24 | 2011-09-07 | 上海德科电子仪表有限公司 | Vehicle-mounted altitude monitoring device and method |
| CN105180950A (en) * | 2015-08-28 | 2015-12-23 | 苏州市博得立电源科技有限公司 | Vehicle navigation system based on air pressure sensing |
-
2016
- 2016-01-28 CN CN201610059176.3A patent/CN107014351B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08285582A (en) * | 1995-04-11 | 1996-11-01 | Yupiteru Ind Co Ltd | Altimeter and altitude correcting method using the same |
| CN101379367A (en) * | 2006-03-20 | 2009-03-04 | 高通股份有限公司 | Method and apparatus for determining the altitude of a mobile device |
| CN102012234A (en) * | 2009-09-04 | 2011-04-13 | 陈宗炜 | Vehicle navigation device |
| CN102175215A (en) * | 2011-02-24 | 2011-09-07 | 上海德科电子仪表有限公司 | Vehicle-mounted altitude monitoring device and method |
| CN105180950A (en) * | 2015-08-28 | 2015-12-23 | 苏州市博得立电源科技有限公司 | Vehicle navigation system based on air pressure sensing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107014351A (en) | 2017-08-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103162689B (en) | The assisted location method of auxiliary vehicle positioning system and vehicle | |
| CN106671974B (en) | A kind of method for detecting parking stalls for Intelligent parking system | |
| CN206479647U (en) | Alignment system and automobile | |
| CN104359492B (en) | Inertial navigation and the reckoning Positioning System Error estimating algorithm of wheel speed meter composition | |
| CN107643519A (en) | There is self-aligning automotive vehicle radar system for orientation, elevation and car speed Calibration errors | |
| CN105865461B (en) | A kind of car position system and method based on Multi-sensor Fusion algorithm | |
| CN104061899B (en) | A kind of vehicle side inclination angle based on Kalman filtering and angle of pitch method of estimation | |
| CN105109490B (en) | Method for judging sharp turn of vehicle based on three-axis acceleration sensor | |
| CN103985131B (en) | Camera fast-calibration method for highway lane departure warning system | |
| CN105716617B (en) | The system and method for driving locus is drawn based on vehicle data | |
| US20140163808A1 (en) | System and method of acquiring bias of yaw rate sensor for vehicle | |
| CN112629544B (en) | Vehicle positioning method and device based on lane line | |
| CN111767354A (en) | High-precision map precision evaluation method | |
| CN108983270A (en) | A kind of train security positioning system and method based on Multi-sensor Fusion | |
| CN109556630A (en) | A kind of vehicle mileage modification method and device | |
| CN107505617A (en) | A kind of radar target method of testing | |
| CN105136157B (en) | A kind of method, system and mobile terminal to be navigated using barometer help | |
| CN106324635B (en) | A kind of straight line traveling detection method and device based on satellite navigation and positioning | |
| CN110007318B (en) | Method for judging GPS deception by single unmanned aerial vehicle based on Kalman filtering under wind field interference | |
| CN107014351B (en) | Obtain the method and system of driving vehicle ideal altitude value | |
| CN107339982A (en) | High ferro wire plotting method | |
| CN104677359A (en) | Method for predicating and forecasting running track of mobile carrier | |
| CN104266664B (en) | The spiral error compensating method and measuring apparatus of a kind of pipe centerline measurement | |
| CN104748734B (en) | A kind of vehicle electronics height above sea level compass of compensation with angle | |
| CN106768232A (en) | A kind of new information of vehicles identifying system and recognition methods |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |